Diff: main.cpp

Revision:

0:529c89c58910

Child:

1:051c84fbac55

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 11 23:02:19 2011 +0000
@@ -0,0 +1,192 @@
+#include "mbed.h"
+#include "EthernetNetIf.h"
+#include "HTTPClient.h"
+#include "AX12.h"
+#include "TextLCD.h"
+
+TextLCD lcd(p15, p16, p17, p18, p19, p20); // rs, e, d4-d7
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+AX12 sm1 (p9, p10, 1);
+AX12 sm2 (p9, p10, 2);
+
+EthernetNetIf eth;
+HTTPClient http;
+
+void DeliverSnack1 () {
+    
+    float pos = 0.0;
+    float goal = 0.0;
+
+    led1 = 1;
+
+    // read the position of the servo
+    pos = sm1.GetPosition();
+
+    // work out where we need to position the servo
+    // we always align to 60^ boundary
+    
+    sm1.SetCRSpeed(0.7);
+    if ((pos > 0.0) && (pos < 60.0)) {
+        goal = 60.0;
+    } else if ((pos > 60.0) && (pos < 120.0)) {
+        goal = 120.0;
+    } else if ((pos > 120.0) && (pos < 180.0)) {
+        goal = 180.0;
+    } else if ((pos > 180.0) && (pos < 240.0)) {
+        goal = 240.0;
+    } else if ((pos > 240.0) && (pos < 295.0)) {
+        goal = 295.0;
+    } else {
+        goal = 2.0;
+    }
+
+    do {
+        pos = sm1.GetPosition();
+        // there is a quirk in the 300-360 dead band of the AX12
+        // where it reads ~120^, briefly
+        if ((goal == 2.0) && (pos > 50.0)) {
+            pos = 0.0;
+        }
+        printf("%.2f\n",pos);
+    } while (pos < goal);
+
+
+    sm1.SetCRSpeed(0.0);
+
+    wait (2.0);
+    led1 = 0;
+}
+
+void DeliverSnack2 () {
+
+    float pos = 0.0;
+    float goal = 0.0;
+
+    led2 = 1;
+
+    // read the position of the servo
+    pos = sm2.GetPosition();
+
+    // work out where we need to position the servo
+    // we always align to 60^ boundary
+    sm2.SetCRSpeed(0.7);
+    if ((pos > 0.0) && (pos < 60.0)) {
+        goal = 60.0;
+    } else if ((pos > 60.0) && (pos < 120.0)) {
+        goal = 120.0;
+    } else if ((pos > 120.0) && (pos < 180.0)) {
+        goal = 180.0;
+    } else if ((pos > 180.0) && (pos < 240.0)) {
+        goal = 240.0;
+    } else if ((pos > 240.0) && (pos < 295.0)) {
+        goal = 295.0;
+    } else {
+        goal = 2.0;
+    }
+
+    do {
+        pos = sm2.GetPosition();
+        // there is a quirk in the 300-360 dead band of the AX12
+        // where it reads ~120^, briefly
+        if ((goal == 2.0) && (pos > 50.0)) {
+            pos = 0.0;
+        }
+        printf("%.2f\n",pos);
+    } while (pos < goal);
+
+    sm2.SetCRSpeed(0.0);
+    
+    wait (2.0);
+    led2 = 0;
+}
+
+
+int main() {
+
+    lcd.cls();
+    lcd.locate(0,0);
+    lcd.printf("Snack-o-tron");
+    lcd.locate(0,1);
+
+    // set Servo to continusous rotation
+    lcd.printf(" Init Motors");
+    //sm1.SetMode(1);
+    wait(0.5);
+
+    lcd.locate(0,1);
+    lcd.printf(" Done       ");
+    wait(0.5);
+
+    lcd.locate(0,1);
+    lcd.printf(" Init Network");
+
+    printf("Setting up...\n");
+    EthernetErr ethErr = eth.setup();
+    if (ethErr) {
+        printf("Error %d in setup.\n", ethErr);
+        lcd.locate(0,1);
+        lcd.printf("Network Error %d",ethErr);
+        return -1;
+    }
+
+    // let the world know all is well!
+    printf("Setup OK\n");
+    lcd.locate(0,1);
+    lcd.printf(" Done           ");
+    wait (2.0);
+    lcd.cls();
+
+    HTTPText txt;
+
+    while (1) {
+
+        lcd.cls();
+        lcd.locate(0,0);
+        lcd.printf("Ready");
+
+        led4 = 1; // this LED flashed with every HTTP request, for sanity
+        HTTPResult r = http.get("http://danros.org.uk/py/snacks.py/snackcheck", &txt);
+
+        if (r==HTTP_OK) {
+            
+            char sender[20];
+            char snack[20];
+            
+            sscanf(txt.gets(),"%s\n%s\n",sender,snack);
+
+            if ( (strcmp ("0",sender)) == 0) {
+                printf("No snacks today\n");
+            } else {
+
+                printf("Sender : %s, Snack : %s\n", sender, snack);
+                lcd.cls();
+                lcd.locate(0,0);
+                lcd.printf("%s",sender);
+                lcd.locate(0,1);
+                lcd.printf("Snack %s",snack);
+
+                // What to do if snack 1 is ordered
+                if ( (strcmp ("1",snack)) == 0) {
+                    DeliverSnack1();
+                }
+                // what to do if snack 2 is ordered
+                else if ( (strcmp ("2",snack)) == 0) {
+                    DeliverSnack2();
+                }
+            }
+
+        } else {
+            // HTTP error
+            printf("Error %d\n", r);
+        }
+
+        // clear LEDs
+        led4 = 0;
+        wait (1.0);
+    }
+}